Imagine you are attempting to obtain a lagrangian model of a device with two inputs [u1, u2] and three outputs [O1, O2, x]. After some of lagrangian work, you find the following three unsimplified equations: E1 = -u1+ Kb r^2 (O1[t] – O2[t]) + Kb r (1/2 r (O1[t] – O2[t]) – Cos[alpha]x[t]) + b1Read more